Mini-Cheetah-ROS

• for urdf thx to grassjelly and HitSZwang

In order to use this code, you shoud go through next steps:

cd catkin_ws/src

git clone https://github.com/Terminateit/Mini-Cheetah-ROS.git

cd ..

catkin_make

source devel/setup.bash

And here we are ready!

• If you want just to see the model:

roslaunch cheetah_show cheetah_gazebo.launch

• Position control:

roslaunch cheetah_control cheetah_control_position.launch

• Current control:

roslaunch cheetah_control cheetah_control_current.launch

• Velocity Control:

roslaunch cheetah_control cheetah_control_velocity.launch